Construction of Environmental Map Based on Lidar Based Tracking System
Xingxing Zhang, Wenhui Zhang, Yang Gao · 2019
For many ground robots, the environment is basically unknown, which requires us to build an environment map so that the robot can start from an unknown location in the unknown environment and locate itself by repeatedly observing the map features during the move. And then gradually build a map according to your location, to achieve the purpose of simultaneous positioning and map construction. This paper mainly introduces the selection of environmental map experimental equipment for the construction of laser radar tracking system and its reasons, analyzes the basic principle of laser radar operation, designs the corresponding experimental scheme, conducts preliminary communication experiments, and finally displays the environment diagram drawn. On the computer, this paper basically completed the work of graphically drawing the scanned data and drawing the environmental map, which is helpful for further research on the tracking system of the laser radar.